Dimensional Lifting, Finite-Time Convergence, and Bearing-Only Algorithms for the Fermat-Weber Location Problem

In this paper, some novel results on the Fermat Weber Location Problem (FWLP) with stationary beacons are reported. We propose using dimensional lifting to prevent collision between the agent and the beacons and bearing-only control laws to guide an agent to the Fermat-Weber point. To improving convergence rate, finite-time bearing-only control laws are also provided. The stability and robustness of the Fermat-Weber point under the proposed algorithms are asserted from a control approach and supported by numerical simulations.